gnome-terminal --tab -- bash -c "ros2 run nav2_map_server map_server --ros-args --param yaml_filename:=/home/xhzn_taomin/work_ws/zbot_ros2/zbot_decision/trajectory_tracker/map/map.yaml; exec bash"
sleep 2
#gnome-terminal --tab -- bash -c "rviz2 -d /home/xhzn_taomin/costmap/rviz.rviz; exec bash"
sleep 4
gnome-terminal --tab -- bash -c "ros2 lifecycle set /map_server configure; exec bash"
sleep 4
gnome-terminal --tab -- bash -c "ros2 lifecycle set /map_server activate; exec bash"
